Zhong Wang

@HeYijia 贺博，您好！我也是平移误差较大，不知道啥原因。我用的鱼眼相机，模型选的是MEI，用Kalibr标的内参，模型用的MEI+radtan。运行二维码检测的时候，轴基本上是准的，自动检测直线看起来也没有问题。标定出的旋转量看着倒是差不多的，平移量出入有点大。

@valgur Hi, valgur. Thanks for your interest in our work. I checked the files you listed above. They already have been uploaded. I guess your compilation environment doesn't meet the...

@valgur Hi valgur, sorry for the late reply. Thanks for your efforts. Feel free to create a pull request.

Hi, @monage2018, my pcl version is 1.8

@kayousolar 一般程序崩掉问题出在pcl和gtsam版本不对应上，我的版本分别为1.8和4.0.2，你先确认下是不是一致

@jeremyxu36 Hi, a sample sequence is provided [here](链接: https://pan.baidu.com/s/1aWpjspRgff02nieZx3V0aQ 密码: pj7s).

@hjr553199215 of cause, hold on, let me 找一找!

@hjr553199215 不好意思,很久没做这个研究了,原论文我找不到出处了,ROS集成了一些覆盖路径的方法,在这里,你可以看看有么有帮助.[http://wiki.ros.org/ipa_room_exploration](url)

@GITHUBFlying Updated some install scripts, try it again.

Hi, @giangdao1402 , the gravity factor serves as a prior constraint in our front-end. We add this term to make sure the built submap is gravity-aligned so that we can...